Method and system for storing flexible documents

ABSTRACT

Method (1) for storing a series of flexible documents in a system, the system comprising one storing and issuing module, one conveyor belt, configured for supporting and transporting the flexible documents toward the at least one storing and issuing module at known conveying speed vc(t), one sensor group, configured to sense any flexible document B(m) transported on the conveyor belt and provide corresponding sensing information, and a central processing unit, operatively connected to the sensor group and the at least one storing and issuing module. The method (1) includes, for an mth flexible document B(m) of the series, the steps of: (1.1) sensing, through sensor group, sensing information regarding flexible document B(m), (1.2) providing within a known prediction time instant tp(m) from sensing, the sensing information to processor; (1.3) determining, through the processor: based on the received sensing information and conveying speed vc(t) of conveyor belt, a subsequent joint time instant tj(m), wherein the rear end of the flexible document B(m) will have entered the storing and issuing module and will be engaged by the holding means with the transport tape, based on a diameter of an assembly formed by storage roller and transport tape rolled together with any previously engaged flexible document around the storage roller, an acceleration value (at), and based on the acceleration value (at), a deceleration value (dect); (1.4) calculating a pattern of linear speed vt(m)(t) at which transport tape must be moved by storage roller, and (1.5) controlling actuation of the holding means at tj(m) and, based on the pattern of linear speed vt(m)(t), one or more respective control signal to the motor, causing control of the storage roller rotation, and a movement of the transport tape according to the calculated speed pattern vt(m)(t).

RELATED APPLICATION

This application claims priority to Italian Patent Application No.102022000013522 filed Jun. 27, 2022, the disclosure of which isincorporated by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates to a method and system for storingflexible documents in a storing and issuing module, the storing andissuing module being configured to store and issue flexible documentssuch as banknotes and paper documents, and to be used in a flexibledocument receiving and dispensing device allowing in a simple, reliable,and effective way handling larger storage capacity than traditionalequipment without increasing power consumption.

In the following, reference will be mainly made to banknotes as flexibledocuments. However, it should be noted that the method and systemaccording to the invention may be used to store and issue any other typeof flexible documents, including paper documents such as checks, notes,certificates, and licenses, still remaining within the scope ofprotection of the present invention defined by the attached claims.

BACKGROUND OF THE INVENTION

Equipment for automatic deposit and withdrawal of banknotes, for exampleas disclosed in EP3349193, are used not only in banking sites but alsoin retail sites, as help for tellers or as customer-operated machines.

This kind of equipment includes banknote receiving and dispensingdevices, optionally having function of recycling, each one comprisingone or more storing and issuing modules which can be removably mountedwithin a respective housing, wherein each module is configured to storea given banknote denomination, also depending on the size thereof.

The number of employed modules determines denominations and/or types ofbanknotes to be handled, as well as dimensions and cost of theequipment.

In fact, in use, the different denominations or types of banknotes areassociated to a very different number of storing and issuing operations.For example, a module receiving denominations of banknotes of greatercirculation, such as 20 euros and 50 euros banknotes, normally needs tosatisfy high request of storing and issuing operations, often varyingover time, and it can easily become full or empty thereby limitingfunctionality of the whole device. To compensate for this drawback, theaddition of modules for storing and issuing banknotes with greatercirculation in an equipment for automatic deposit and withdrawal ofbanknotes could be considered. However, this would result in high costsand is not efficient for storage room dimensioning.

A prior art device for storing and issuing single denomination banknotesis disclosed in document EP2104638. As schematically shown in FIG. 1 ,such prior art storing and issuing module includes, among otherelements, a storage roller 50 operatively associated with a motor (notshown) and at least one transport tape 52 configured to be rolled on thestorage roller 50 together with banknotes, when the associated motor isactivated. Before entering the storing and issuing module, through arespective opening 20 thereof, the banknotes are transported on aconveyor belt (not shown) and are deviated therefrom by at least onediverter 42 comprised in the storing and issuing module and controlledby at least one respective electromagnet. The diverter 42 is arranged atopening 20, which is formed in one side of the storing and issuingmodule facing the conveyor belt, and in proximity of an input transportroller 31; the banknotes are thus conveyed in a linear conveying section51 extending from the opening 20 to the outer diameter of the storageroller 50. Through such conveying section 51 each banknote entering thestorage and issuing device is guided along one banknote channel(delimited by bottom and top lever arms 75 and 76) to the outer diameterof the storage roller 50. In FIG. 1 , two cases are represented, namely:

-   -   a first case where the module has not received any banknote yet,        and the diameter of the assembly formed by the storage roller 50        and the transport tape 52 is substantially equal to the diameter        of the storage roller 50, and    -   a second case, wherein the module has already received a certain        number of banknotes, and the diameter of the assembly formed by        the storage roller 50, the transport tape 52 and the banknotes        substantially corresponds to the diameter of storage roller 50,        plus the thickness of the transport tape 52 rolled up with the        banknotes around storage roller 50.

At conveying section 51 the storing and issuing module is provided withphotoelectric sensors 66 configured for detecting the presence ofbanknotes in respective areas of detection of the conveying section 51and sending a corresponding activation signal(s) causing activation ofthe motor associated to storage roller 50. The storing and issuingmodule is also provided with an electronic unit 80 and holding means,such as pairs of pinch-rollers (not represented in FIG. 1 ) which can beactuated for engaging the banknotes to be stored with transport tape 52,in response to a suitable control signal imparted by an electronic unit80 of the storage and issuing module, when the photoelectric sensors 66have sensed one banknote on the conveying section 51.

The maximum distance in the conveying section 51 between the opening 20and the holding means and the distance between the holding means and theouter diameter of the storage roller 50 must be smaller than thesmallest size of the denominations to be stored on or issued from thestorage roller 50, for instance such distance must be lower than 62millimeters for five euros (€ 5) banknotes.

The electronic unit 80 of the storing and issuing module of the priorart is programmed for controlling the holding means and the motor of thestorage roller 50 based on the physical parameters of the device, thelength of the banknote and in response to signals from the photoelectricsensors, so as to store the banknotes on the storage roller with voidspace queuing providing substantial contact between the input edge of anentering banknote and the output edge of a last stored banknote.

Such prior art storing and issuing module has a great reliability.Nevertheless, it has a limited storage capacity up to 600 banknotes,since storing a larger number of banknotes would entail an increasedlength of a transport tape 52 wrapped together with the banknotes aroundits storage roller 50, and the provision of a longer transport tape 52would pose many issues regarding design configuration of the storing andissuing module itself, among which the fact that an increased length ofthe transport tape 52 wrapped together with the banknotes around thestorage roller 50 would result in a greater diameter of the assemblyformed by transport tape-banknotes-storage roller and a consequentgreater inertia thereof, with higher power consumption requested for itsrotation.

It is therefore an object of this invention to allow in a simple,reliable, and effective way maximizing storage capacity of flexibledocuments, such as banknote, to be stored on and issued from a storingand issuing module, with no increase in its power consumption.

SUMMARY OF THE INVENTION

It is specific subject matter of the present invention a method forstoring a series of flexible documents in a system, the systemcomprising

-   -   at least one storing and issuing module,    -   one conveyor belt, configured for supporting and transporting in        said system said flexible documents toward said at least one        storing and issuing module at known conveying speed v_(c)(t),    -   one sensor group, arranged with respect to said conveyor belt in        such a way that it can sense any flexible document B(m)        transported on said conveyor belt and provide corresponding        sensing information, and    -   a central processing unit, operatively connected to said sensor        group and said at least one storing and issuing module and        configured to receive and process said sensing information, and        send corresponding control signals to said at least one storing        and issuing module;        wherein in said at least one the storing and issuing module one        opening is formed, through which each flexible document B(m) can        enter the same with its front end, and be transported through a        linear conveying section of the storing and issuing module, the        storing and issuing module having at least:    -   a storage roller actuated by a motor;    -   one transport tape configured to be dragged in rotation by the        storage roller around the same;    -   holding means, arranged at said conveying section, and        configured for engaging each flexible document B(m) with the        transport tape, when the rear end of the flexible document B(m)        has entered the storing and issuing module through opening, the        engagement occurring along a linear path of transport tape where        transport tape can be moved at linear speed before being rolled        on storage roller;    -   one processor, operatively connected, through said central        processing unit, to at least said sensor group, and also        operatively connected to said storage roller, motor, and holding        means;        said method comprising, for an m^(th) flexible document B(m) of        the series, the steps of:    -   1.1 sensing, through said sensor group, sensing information        regarding said flexible document B(m),    -   1.2 providing within a known prediction time instant t_(p)(m)        from sensing, through said central processing unit, said sensing        information to processor; and    -   1.3 determining, through said processor:        -   based on said received sensing information and said known            conveying speed v_(c)(t) of conveyor belt, a subsequent            joint time instant t_(j)(m), wherein the rear end of said            flexible document B(m) will have entered the storing and            issuing module and will be engaged by said holding means            with said transport tape,        -   based on a diameter of an assembly formed by said storage            roller and said transport tape rolled together with any            previously engaged flexible document around said storage            roller, an acceleration value, and        -   based on said acceleration value, a deceleration value;    -   1.4 calculating a pattern of linear speed v_(t(m))(t) at which        said transport tape must be moved by said storage roller, after        prediction time instant t_(p)(m) such that, at estimated joint        time instant t_(j)(m), when said holding means engage said        flexible document B(m) with transport tape in said at least one        storing and issuing module, a predetermined desired distance        d_(d) on said transport tape is left between said front end of        said flexible document B(m) and a rear end of a flexible        document B(m−1) of the series, last engaged by said transport        tape, if any, based on:        -   the sensing information;        -   said determined joint time instant t_(j)(m), acceleration            and deceleration values; and        -   a linear speed profile v_(t(m−1))(t) determined by processor            said for the previous flexible document B(m−1) of the            series, if any; and    -   1.5 sending, by said processor, control signals causing        actuation of said holding means at t_(j)(m) and, based on said        pattern of linear speed v_(t(m))(t) of said transport tape, one        or more respective control signal to said motor, causing control        of said storage roller rotation, and a corresponding movement of        said transport tape according to the calculated speed pattern        v_(t(m))(t).

According to another aspect of the invention, said acceleration valuecan be inversely proportional to a total Inertia required to rotate,through said motor, said assembly formed by said storage roller and saidtransport tape rolled together with any previously engaged flexibledocument around said storage roller.

According to a further aspect of the invention, said total Inertia canbe a function of said diameter value of said assembly formed by saidstorage roller and said transport tape rolled together with anypreviously engaged flexible document around said storage roller,optionally wherein said acceleration value can be calculated inreal-time or it can be calculated off-line and stored in said processor,optionally in a lookup table, as a function of said diameter value.

According to an additional aspect of the invention, said sensinginformation can comprise at least the dimensions of a sensed m^(th)flexible document B(m) of the series of flexible documents and itsangular position with reference to an axis parallel to a longitudinalsymmetry axis of conveyor belt, and optionally the distance of eachflexible document from a lateral edge of conveyor belt, and/or adenomination of said sensed m^(th) flexible document B(m), moreoptionally a length of the projection of the sensed m^(th) flexibledocument B(m) along an axis parallel to the longitudinal symmetry axisof conveyor belt.

According to another aspect of the invention, if the m^(th) flexibledocument B(m) is the very first one of the series of flexible documentsor if it is not the first one and prediction time instantt_(p)(m)t≥(t_(j)(m−1)+Δt_(stop)), where:

-   -   t_(j)(m−1) is the joint time instant of the last engaged        flexible document B(m−1) of the series, and    -   Δt_(stop) is a known time interval required to take a flexible        document to a resting or stop position on transport tape with        its rear end at a stop distance d_(s) from opening, then said        pattern of linear speed v_(t(m))(t) of transport tape can be        calculated, so that, between t_(p)(m) and t_(j)(m), it satisfies        rule:

∫_(t) _(p) _((m)) ^(t) ^(j) ^((m)) v _(t(m))(t)dt=Proj(m)+d _(d) −d _(s)

where Proj(m) is the length of the projection of the sensed flexibledocument B(m) along an axis parallel to the longitudinal symmetry axisof conveyor belt, and after t_(j)(m), it satisfies rule:

∫_(t) _(j) _((m)) ^(t) ^(j) ^((m)+Δt) ^(stop) v _(t(m))(t)dt=d _(s)

According to a further aspect of the invention, if prediction timeinstant for said flexible document B(m) is such thatt_(p)(m)≤t_(j)(m−1), where t_(j)(m−1) is the joint time instant of thelast sensed flexible document B(m−1) of the series, then said pattern oflinear speed v_(t(m))(t) of transport tape is calculated that, betweent_(j)(m−1) and t_(j)(m), it satisfies rule:

∫_(t) _(j) _((m-1)) ^(t) ^(j) ^((m)) v _(t(m))(t)dt=Proj(m)+d _(d)

where Proj(m) is the length of the projection of the sensed flexibledocument B(m) along an axis parallel to the longitudinal symmetry axisof conveyor belt, and after t_(j)(m), the pattern of linear speedv_(t(m))(t) can be set by processor to satisfy rule:

∫_(t) _(j) _((m)) ^(t) ^(j) ^((m)+Δt) ^(stop) v _(t(m))(t)dt=d _(s)

where Δt_(stop) is a known time interval required to take a flexibledocument B(m) to a resting or stop position on transport tape with itsrear end at a stop distance d_(s) from opening.

According to an additional aspect of the invention, if prediction timeinstant for said flexible document B(m) is such thatt_(j)(m−1)<t_(p)(m)≤(t_(j)(m−1)+Δt_(stop))−t_(rate), where:

-   -   t_(j)(m−1) is the joint time instant of the last engaged        flexible document B(m−1) of the series,    -   Δt_(stop) is a known time interval required to take a flexible        document to a resting or stop position on transport tape with        its rear end at a stop distance ds from opening and    -   t_(rate) is a constant nominal time interval of said flexile        document B(m), then linear speed v_(t(m))(t) of transport tape        can be calculated that, between t_(j)(m−1) and t_(j)(m),        satisfies rule

∫_(t) _(j) _((m-1)) ^(t) ^(p) ^((m)) v _(t(m-1))(t)dt+∫ _(t) _(p) _((m))^(t) ^(j) ^((m)) v _(t(m))(t)dt=Proj(m)+d _(d)

where Proj(m) is the length of the projection of the sensed flexibledocument B(m) along an axis parallel to the longitudinal symmetry axisof conveyor belt, and after t_(j)(m), it satisfies rule:

∫_(t) _(j) _((m)) ^(t) ^(j) ^((m)+Δt) ^(stop) v _(t(m))(t)dt=d _(s)

According to another aspect of the invention, if prediction time instantfor said flexible document B(m) is such that(t_(j)(m−1)+Δt_(stop))−t_(rate)<t_(p)(m)<(t_(j)(m−1)+Δt_(stop))

Where:

-   -   t_(j)(m−1) is the joint time instant of the last engaged        flexible document B(m−1) of the series,    -   Δt_(stop) is a known time interval required to take a flexible        document to a resting or stop position on transport tape with        its rear end at a stop distance ds from opening, and    -   t_(rate) is a constant nominal time interval of said flexile        document B(m), then the linear speed v_(t(m))(t) of transport        tape can be calculated that, after stop of last engaged banknote        B(m−1), it satisfies rule:

∫_(t) _(j) _((m-1)+Δt) _(stop) ^(t) ^(j) ^((m)) v _(t(m))(t)dt=Proj(m)+d_(d) −d _(s)

where Proj(m) is the length of the projection of the sensed flexibledocument B(m) along an axis parallel to the longitudinal symmetry axisof conveyor belt, and after t_(j)(m), it satisfies rule:

∫_(t) _(j) _((m)) ^(t) ^(j) ^((m)+Δt) ^(stop) v _(t(m))(t)dt=d _(s)

According to a further aspect of the invention, said stop distance d_(s)can be comprised between 70% and 100% of the height H of the smallestflexible document to be stored in said at least one storing and issuingmodule.

According to an additional aspect of the invention, said linear speedv_(t(m))(t) of transport tape can have a pattern over time defining aline segment or chain of line segments.

According to another aspect of the invention, said line segment or chainof line segments can be associated to: said acceleration value; aconstant speed target value (v_(t)); and said deceleration value.

According to a further aspect of the invention, said constant speedtarget value can be a function of:

-   -   two following joint time instants (t_(j)(m−1) and t_(j)(m))        determined by processor (80),    -   the distance, calculated by processor that the rear end of a        last sensed flexible document B(m−1) needs to cover with        transport tape in order to allow the entering flexible document        B(m), when also engaged by transport tape, to have its front end        at distance d_(d) from rear end of last engaged flexible        document B(m−1),    -   the acceleration value,    -   the value of linear speed v_(t(m-1))(t_(j)(m)) of the last        sensed flexible document B(m−1) that transport tape would have        at joint time instant t_(j)(m), if the flexible document B(m)        had not been sensed by sensor group.

It is also a specific subject matter of the present invention a systemfor storing a series of flexible documents, wherein each flexibledocument of the series of flexible documents has a front and rear end,said system comprising

-   -   at least one storing and issuing module,    -   one conveyor belt, configured for supporting and transporting in        said system said flexible documents toward said at least one        storing and issuing module at known conveying speed v_(c)(t),    -   one sensor group, arranged with respect to said conveyor belt in        such a way that it can sense any flexible document B(m)        transported on said conveyor belt and provide corresponding        sensing information, and    -   a central processing unit, operatively connected to said sensor        group and said at least one storing and issuing module and        configured to receive and process said sensing information        coming, and send corresponding control signals to said at least        one storing and issuing module;        wherein        in said at least one the storing and issuing module one opening        is formed, through which each flexible document B(m) can enter        the same with its front end, and be transported through a linear        conveying section of the storing and issuing module, the storing        and issuing module having at least:    -   a storage roller configured to be actuated by a motor;    -   one transport tape configured to be dragged in rotation by the        storage roller around the same;    -   holding means, arranged at said conveying section, and        configured for engaging each flexible document B(m) with the        transport tape, when the rear end of the flexible document B(m)        has entered the storing and issuing module through opening, the        engagement occurring along a linear path of transport tape where        transport tape can be moved at linear speed before being rolled        on storage roller;    -   one processor, operatively connected through said central        processing unit, to at least said sensor group, and also        operatively connected to said storage roller, motor, and holding        means;        said system being configured to execute the method as disclosed        above.

According to another aspect of the invention, when the system comprisesmore than one storing and issuing module, the central processing unitoperatively connected to each processor of each storing and issuingmodule, and the central processing unit can be further configured tocarry out a check of the sensing information and, based on the sensinginformation, select one of the storing and issuing module and send thesensing information thereto.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be now described, by way of illustration andnot by way of limitation, according to its preferred embodiments, withparticular reference to the attached Figures, wherein:

FIG. 1 shows a schematic lateral view of the main elements of a storingand issuing module according to the prior art;

FIG. 2 is a representation of one exemplary embodiment of a flexibledocument receiving and dispensing device comprising a system 100according to the invention, including prior art storing and issuingmodules as those represented in FIG. 1 (reference numbers 11A, 11B) andother modules (10A and 10B) as disclosed in patent applicationIT102021000033155 by the same Applicant the disclosure of which isincorporated by reference in its entirety.

FIG. 3 shows another schematic view of the main hardware elements of theinvention system 100, included in the receiving and dispensing device ofFIG. 2 ;

FIGS. 3 a and 3 b depict two time-instants during implementation of themethod according to the present invention, when a banknote (B(m)) of aseries of banknotes ( . . . , B(m−1), B(m), B(m+1), . . . ) is stored inthe corresponding storing and issuing module;

FIG. 4 is a schematic representation of hardware components of apreferred embodiment of a storing and issuing module, which contributeto the inertial torque seen by the motor responsible for actuation of astorage roller;

FIGS. 4 a to 4 c are respective graphical representation of the totalinertia, angular acceleration and inertial torque seen by the motorresponsible for actuation of a storage roller of the storing and issuingmodule of FIG. 4 ;

FIG. 5 shows a plan view of a conveyor belt of a flexible documentreceiving and dispensing device incorporating the invention, theconveyor belt supporting banknotes of different denominations which areangularly displaced with respect to an axis parallel to the longitudinalsymmetry axis conveyor belt;

FIG. 6 is a flowchart of the main steps of the invention method;

FIG. 7 is another flowchart depicting details of some invention methodsteps, implemented by a storing and issuing module of invention system;

FIGS. 8 to 11 are graphical representations of the speed of thetransport-tape at the end of a conveyor section of a storing and issuingmodule, the speed being calculated according to the invention method, indifferent cases of banknotes storage,

FIGS. 12 and 13 show graphically two examples of how the pattern oftransport-tape speed at the end of conveyor section of the storing andissuing module can be calculated, according to a preferred embodiment ofthe invention.

In the Figures identical reference numerals will be used for alikeelements.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

With particular reference to FIGS. 2 and 3 , it will be appreciated thata system particular reference to FIGS. 2 and 3 , it will be appreciatedthat a system according to the present invention, for storing a series (. . . , B(m−1), B(m), B(m+1), . . . ) of flexible documents and moreparticularly banknotes, is generally indicated with reference numeral100, and can be included in a receiving and issuing device asrepresented for example in FIGS. 2 and 3 .

Such a system 100 comprises at least one storing and issuing module (inFIG. 2 a plurality of them is represented, numbered as 11A, 11B, 10A and10B while only one, referenced with numeral 10, is shown in FIG. 3 ),for the automation of cash activities, one conveyor belt 23, configuredfor supporting and transporting the banknotes in the a receiving andissuing device toward the storing and issuing module(s) at knownconveying speed v_(c)(t), and one sensor group 9, comprising at leastone image sensor, the sensor group 9 being arranged with respect toconveyor belt 23 in such a way that it can sense any banknote B(m) beingtransported on conveyor belt 23 toward the storing and issuing module(s)and provide corresponding sensing information.

The system 100 also comprises a central processing unit 19, which isdirectly or indirectly operatively connected to the sensor group 9 andconfigured to receive and process sensing information coming therefrom,and send corresponding control signals to the storing and issuingmodule(s) 11A, 11B, 10A, 10B or 10, according to the method of thepresent invention, that will be described in the following.

According to the invention, the sensing information provided by sensorgroup 9, see FIG. 5 , comprises at least the dimensions of a sensedbanknote B(m) and its position on conveyor belt 23. As can beappreciated, in fact, different denominations or banknote types can havedifferent dimensions (length L and height H, in FIG. 5 )—a 5 eurosbanknote, for example, is smaller than a 20 euros banknote. Also, thebanknotes can be placed on conveyor belt 23 in such a way that theirfront side (i.e., the side of the banknote facing the storing andissuing module(s)) is not perfectly perpendicular to an axis parallel tothe longitudinal symmetry axis of conveyor belt 23 but forms, instead,an angle α therewith. By watching FIG. 5 , for example, it can beappreciated that the 20 euros banknote has a front end, at its lowerright corner, and a rear end, at its upper left corner. The 5 eurosbanknote, instead, has, its upper right corner as front end and, as rearend, its lower left corner. If a banknote had its front side perfectlyperpendicular to the longitudinal symmetry axis of conveyor belt 23, itsfront end would be represented by the whole front side thereof and itsrear end would be represented by its whole rear side, the correspondingangle α being zero. Optionally, the sensing information provided bysensor group 9 can comprises also the distance of each banknote from onelateral edge of conveyor belt 23, and/or the denomination of the sensedbanknote, see references Y and/or ID in FIG. 5 . The ID, as will be seenbelow, is associated to the denomination of the sensed banknote, and canbe used by the central processing unit 19 to determine to which storingand issuing module of a receiving and dispensing device the banknoteshould be sent for storage, in case system 100 was provided with morethan one storing and issuing module.

According to a preferred embodiment of the invention, once the sensinginformation is provided to the central processing unit 19, the centralprocessing unit 19 can perform a first check of the sensed banknoteB(m), based on the received sensing information. In case the sensedbanknote B(m) does not comply with predefined standards in terms ofposition (on conveyor belt 23) or dimensions, the sensed banknote B(m)is rejected. In practice, whenever a banknote B(m) is rejected, it canbe outputted from the device or can be sent to a storing and issuingmodule from where it is sent to safe disposal.

With particular reference to the storing and issuing module 10 (in thepresent description, for simplicity, reference will be made to a systemcomprising only one storing and issuing module 10 as represented in FIG.3 ), in the storing and issuing module an opening 20 is formed andrespective input transport rollers 31 are comprised at said opening 20,that can be actuated in a known way to engage with a front end of anentering banknote B(m) of a series ( . . . , B(m−1), B(m), B(m+1), . . .) of banknotes, in order to guide it inside the storing and issuingmodule 10 along a conveying section 51, toward a respective storageroller 50.

The storing and issuing module 10 comprises, in fact, a storage roller50 and also a feeding-roller 50′ (not shown in FIG. 3 but represented inFIG. 4 ) as well as respective motors 60 and 60′ (also shown in FIG. 4), the motors being configured to coordinately actuate storage roller 50and the feeding-roller 50′, upon receipt of a suitable control signal.

The storing and issuing module 10 also comprises one transport tape 52,having one end connected to storage roller 50 and the other endconnected to feeding-roller 50′. The transport tape 52, during banknotesstoring operations and due to corresponding coordinated activation ofmotors 60 and 60′, is configured to be unrolled from feeding-roller 50′and rolled on storage roller 50 along a forward path such that, it ismoved along a linear path with a linear speed, at the end of conveyingsection 51, before being rolled around storage roller 50. The motors 60and 60′ optionally are conventional stepper motors, controlled asopen-loop servomechanisms, which rotate the storage roller 50 andfeeding-roller 50′ through proper pulleys and toothed transmission belts(not shown in the drawings).

The storing and issuing module 10 also comprises holding means arrangedat conveying section 51, which are configured to be actuated forengaging an entering banknote B(m) with transport tape 52, when theentering banknote B(m) has completely entered the storing and issuingmodule, i.e. when the rear end of that banknote has passed throughopening 20 and has disengaged from transport rollers 31. In detail, theholding means includes a pair of pinch-rollers 53 and 54 arranged belowand above transport tape 52. The pinch-rollers are configured tomutually shift under control of electromagnets (not shown in theFigures).

With such a configuration of system 100, it will be noted that anybanknote B(m), transported by conveyor belt 23 toward the storing andissuing module 10, enters the module 10 at speed v_(c)(t) and only whenits rear end is disengaged from input roller 31 and is substantially atthe same time engaged by holding means 53-54, it starts moving engagedwith transport tape 52 at linear speed v_(t(m))(t).

The storing and issuing module 10 also comprises a processor 80,operatively connected to the central processing unit 19 of the system100 and to the motors 60 and 60′ and the holding means 53-54 above. Theprocessor 80 is configured to determine the diameter of the assemblyformed by the storage roller 50, the transport tape 52 and the banknotesengaged with the latter, in a way known in the art. For example, thediameter can be determined based on the diameter of storage roller 50,the number of rotations performed during operation by the storage roller50 driven by motor 60 (through an encoder connected to the storageroller 50), the thickness of transport tape 52, and the thickness of thebanknotes B(m) entering the storage and issuing unit 10. Processor 80 isalso configured to determine the patter of linear speed v_(t(m))(t) oftransport tape 52 during storage of a banknote B(m), as will beexplained below.

The method of the present invention for storing a series ( . . . ,B(m−1), B(m), B(m+1), . . . ) of flexible documents, more particularlybanknotes, in a storing and issuing module 10 of the system 100 abovedescribed, is indicated in FIGS. 6 and 7 by reference numeral 1 andcomprises, according to a preferred embodiment of the invention, for anm^(th) banknote B(m) of a series ( . . . , B(m−1), B(m), B(m+1), . . . )of banknotes transported at conveying speed v_(c)(t) by conveyor belt 23toward storing and issuing module 10, at a first step 1.1, sensingthrough sensor group 9, sensing information regarding banknote B(m) andsending the sensing information, to central processing unit 19.

At step 1.2, the central processing unit 19, within a known predictiontime instant t_(p)(m) from sensing, checks the received sensinginformation to determine whether the sensed banknote B(m) is to berejected or not and, if not, forwards the sensing information toprocessor 80 of the storing and issuing module 10. Otherwise, thebanknote B(m) is rejected as explained above, at step 1.21.

According to a variant of the present invention, prior to forwarding thesensing information to processor 80, in case more than one storing andissuing module is comprised in system 100, the central processing unit19 is configured to determine at step 1.2, based on the sensinginformation, optionally based on the ID of the sensed banknote B(m), thestoring and issuing module to which the sensing information are to beforwarded.

Once processor 80 of the storing and issuing module 10 receives thesensing information forwarded by the central processing unit 19, itdetermines at step 1.3:

-   -   a subsequent joint time instant t_(j)(m), wherein the rear end        of sensed banknote B(m) will have entered the storing and        issuing module 10 and will be engaged by holding means 53-54        with transport tape 52, based on the received sensing        information and the known conveying speed v_(c)(t) of conveyor        belt 23,    -   an acceleration a_(t), based on the the diameter of the assembly        formed by transport tape 52 rolled around storage roller 50, the        diameter being calculated as disclosed above, and    -   a deceleration value dec_(t) value, the deceleration value being        at least equal or more than double the acceleration value a_(t).

Following that, at step 1.4, according to method 1 of the presentinvention, the processor 80 calculates the pattern of linear speedv_(t(m))(t) at which the transport tape 52 must be moved by storageroller 50, after prediction time instant t_(p)(m) such that, atestimated joint time instant t_(j)(m), when the holding means 53-54engage banknote B(m) with transport tape 52 in the storing and issuingmodule 10, a predetermined desired distance d_(d) on transport tape 52is left between the front end of that banknote B(m) and the rear end ofa banknote B(m−1) of the series, last engaged by the transport tape 52,if any. This calculation of processor 80 is performed based on:

-   -   the sensing information;    -   the determined joint time instant t_(j)(m), acceleration a_(t)        and deceleration dec_(t) values;    -   the linear speed profile v_(t(m−1))(t) determined by processor        80 for a previous banknote B(m−1) of the series, if any.

Finally, method 1 of the invention comprises, at step 1.5, sending byprocessor 80, and based on the pattern of linear speed v_(t(m))(t) oftransport tape 52 calculated at step 1.4, one or more respective controlsignal to the motor 60, causing control of storage roller 50 rotation,and therefore a corresponding movement of transport tape 52 according tothe calculated speed pattern v_(t(m))(t) and actuation of holding means53-54 at t_(j)(m).

With reference to the above disclosed steps of invention method 1, it isnoted that conveying speed v_(c)(t) of conveyor belt 23 is known and,optionally, advantageously constant over time, at least during executionof invention method 1. Moreover, also the known prediction time instantt_(p)(m) from sensing is a set value that can be determined based onsystem 100 parameters such as, for example, the sensing efficiency ofsensor group 9, the signal transmission speed between sensor group 9 andcentral processing unit 19, the computing capacity of central processingunit 19 and the algorithm used. Prediction time instant t_(p)(m) alsodepends on the size of the banknotes to be stored in the storing andissuing module 10 and their position of conveyor belt 23. Predictiontime instant t_(p)(m) must be greater than the time required by system100 to identify a banknote B(m) in the worst case, i.e. where thebanknote is the biggest between the banknotes that system 100 can handleand, for example, angle α is the highest angle that central processingunit 19 can accept without rejecting the banknote because of hismisplacement on conveyor belt 23. According to a preferred embodiment ofthe invention, prediction time instant t_(p)(m) can be a function ofconveying speed v_(c)(t), for example it can be set so that, aftert_(p)(m) and before the sensed banknote B(m) enters the storing andissuing unit 10, central processing unit 19 is able to calculateprediction time instants t_(p)(m+i) for a number i=1, 2, 3 . . . offollowing banknotes B(m+i) in the series of banknotes that in themeantime have been sensed by sensor group 9, in average operatingcondition (for example, when more banknotes are introduced in thereceiving and dispensing device, one after the other with a known meantime interval therebetween). Prediction time instant t_(p)(m) can be setsuch that the time, after t_(p)(m), left for the banknote B(m) to enterthe storing and issuing module 10 corresponds to at least 105% of theknown, possibly adjustable, mean time interval between banknotes(t_(rate), also known as the nominal time interval of the banknote sentto the storing and issuing module 10) at average operating condition sothat, in normal operating condition, the central processing unit 19 iscapable of determine joint time instants for more than one banknotebeing stored based on the received sensing information sent by sensorgroup 9. Prediction time instant t_(p)(m), therefore, is generallygreater than a nominal time interval of the storing and issuing module10, a minimum variation being considered, for example of the order of±4%.

As a further remark, it should be noted that, at step 1.2, the sensinginformation including the dimensions and angle α of a sensed banknoteB(m) transported by conveyor belt 23 could be directly sent by thecentral processing unit 19 to processor 80 or the central processingunit 19 could calculate and send processor 80 a value of the projectionof the sensed banknote B(m), along an axis that is parallel to alongitudinal symmetry axis of conveyor belt 23, such projection valuebeing a function of the dimensions of the sensed banknote B(m) and itsposition on conveyor belt 23, received by sensor group 9. The projectionProj(m) of the m^(t)h banknote transported by conveyor belt 23 could becalculated, as indicated in FIG. 5 as:

Proj(m)=H*cos(α)+L*sin(α).

In case the projection value of an entering banknote B(m) was calculatedby processor 80 upon receipt of dimension information (length L, heightH and angle α) of the sensed banknote, such projection value Proj(m) isavailable before determining the subsequent joint time instant t_(j)(m)at step 1.3.

According to a particular advantageous aspect of the invention, thepattern of linear speed v_(t(m))(t) of transport tape 52 calculated atstep 1.4, required to store banknote B(m) in the storing and issuingmodule 10 at desired d_(d) distance from a last engaged banknote B(m−1),if any, is associated to a linear acceleration constant value a_(t),determined at step 1.3, that depends on the configuration of the system100 and is a function of the Inertia value of the assembly formed bystorage roller 50, transport tape 52 and the banknotes engagedtherewith, which Inertia value is in turn a function of the diameter ofthe assembly and increases as more banknotes are engaged with transporttape 52 and rolled therewith on storage roller 50.

More particularly, according to a specific advantageous aspect of theinvention method 1, the greater the inertia of the assembly formed bystorage roller 50, transport tape 52 and the banknotes, the lower theselected linear acceleration value a_(t), in order to keep substantiallyconstant the inertial torque seen by motor 60 and therefore the powerrequired to move, in use, the assembly formed by storage roller 50,transport tape 52 and the banknotes engaged therewith, independently ofthe diameter thereof.

According to a more specific aspect of the invention method 1, thelinear acceleration constant value a_(t), is a function of the diameterof the assembly formed by storage roller 50, transport tape 52 and thebanknotes engaged therewith, which diameter can be calculated by theprocessor 80 of the storing and issuing module 10, as disclosed above.

Just to give one clarifying example of the invention, with aconfiguration of the storing and issuing module 10 as that depicted inFIG. 4 , the total inertia I_(tot60), seen by motor 60 responsible foractuation of storage roller 50 can be modelled, as shown in FIG. 4 , asa function of known transmission ratios (Z . . . /Z . . . ) of thewheels/pulleys of the system 100 motion elements which ratios, beingdimensionless, can refer to the number of teeth thereof and theircorresponding pitch diameters.

All such values regarding wheels/pulleys are obviously known andconstants while the only independent variable is the diameter Ø₅₀₊₅₂ ofthe assembly formed by transport tape 52 and banknotes rolled on thestorage roller 50, which can be calculated and provided by processor 80as described above, the diameter Ø₅₀₊₅₂ of the assembly formed bytransport tape 52 and feeding roller 50′ being derivable once the lengthof transport tape 52 is known and also the diameter of feeding roller50′.

The main component of the total inertia I_(tot60) in the equation shownin FIG. 4 is the one regarding storage roller 50, which shows the largerdiameter as the banknotes are being stored and is the only one includingthe banknotes.

With this configuration the inertial torque seen by motor 60, i.e. theproduct of the total inertia I_(tot60) seen by motor 60 (FIG. 4 a ,which increases as the diameter of the assembly formed by storage roller50, transport tape 52 and the banknotes engaged therewith increases) andthe angular acceleration of its motor shaft can be kept constant andindependent of the assembly diameter, by selecting an angularacceleration value acc for motor shaft (FIG. 4 b ), and a correspondinglinear acceleration value a_(t) of transport tape 52, thatcorrespondingly decreases, as the diameter Ø₅₀₊₅₂ of the assembly formedby storage roller 50, transport tape 52 and the banknotes engagedtherewith increases.

By way of example FIGS. 4 a to 4 c show respectively the pattern of thetotal inertia I_(tot60) seen by motor 60, the angular accelerationthereof and the inertial torque, as function of the assembly diameterØ₅₀₊₅₂, for a traditional storing and issuing module 10 configured tostore up to 1000 banknotes. Those figures clearly show that if theangular acceleration acc of the motor shaft of motor 60 is notproportionally inverse to the total Inertia I_(tot60), the inertialtorque seen by motor 60 increases with the diameter Ø₅₀₊₅₂ of theassembly, i.e. as the number of stored banknotes in the storing andissuing module 10 increases.

FIG. 4 c , in particular, shows that if the angular acceleration ofmotor 60 (and accordingly the corresponding linear acceleration a_(t) oftransport tape 52) is chosen as being inversely proportional to thetotal inertia seen by motor 60, then the inertial torque does notincrease, and the power consumption required to move the assembly formedby storage roller 50, transport tape 52 and the banknotes engagedtherewith remains constant as the number of banknotes stored increases.In all other cases, for example as shown in FIGS. 4 b and 4 c , with aconstant angular acceleration of motor shaft (acc=k, normally used inprior art storing and issuing modules) or an angular accelerationthereof inversely proportional to the diameter calculated by processor80, i.e. acc=f(ϕ₅₀₊₅₂), the inertial torque of motor 60 increases withthe diameter and so the power consumption required to move storageroller 50.

According to a preferred embodiment of the invention method 1, thelinear acceleration constant value a_(t) for the pattern of transporttape 52 linear speed v_(t(m))(t) can be calculated in real time, duringthe execution of the invention method at step 1.3, based on the diameterinformation calculated by processor 80 of storing and issuing module 10,or can be selected on a lookup table that has been prestored in theprocessor 80, providing a corresponding acceleration a_(t) for acorresponding Inertia value, function of diameter value.

As can be seen in FIG. 4 b , as the diameter of the assembly formed bystorage roller 50, transport tape 52 and the banknotes engaged therewithincreases, the angular acceleration value of the motor shaft of motor 60selected according to the invention method (acc=f(I_(tot))) can be muchlower than the angular acceleration value normally used in prior artstoring and issuing modules, which is constant (acc=k). This lowerangular acceleration and corresponding linear acceleration a_(t) oftransport tape 52 require an advanced activation (at activation timeinstant t_(p)(m)<t_(a)(m)<t_(j)(m)) of the storage roller motor 60, inorder to cover the same angular displacement of storage roller 50 orlinear displacement of transport tape 52 at its linear path at the endof conveying section 51, that would be covered with higher accelerationsaccording to the prior art.

Accordingly, when a large number of banknotes is stored (i.e. rolled upwith transport tape 52 around storage roller 50) and the correspondingdiameter of the assembly is high, the motor 60 of storage roller 50having a low angular acceleration must be started at activation timeinstant t_(a)(m) well before entry of a corresponding entering banknoteB(m) in the storing and issuing module 10, to cause the required lineardisplacement of transport tape 52 such that, when that entering banknoteB(m) is engaged by holding means 53-54, its front end is at desireddistance d_(d) (d_(d) being, for example, 3 mm±3 mm) from the previouslyengaged banknote B(m−1) rear end, if any.

With low angular acceleration values, contrary to the prior art methods,it is not possible to make use of any sensor placed at conveying section51 (sensor 66 in the prior art storing and issuing module describedabove), to provide a corresponding start signal to motor 60, because itwill not be possible to move transport tape 52, for the length requiredto leave the desired distance d_(d) between banknotes engaged therewith,in time.

According to a preferred embodiment of invention method 1, when anentering banknote B(m) of the series of banknotes ( . . . , B(m−1),B(m), B(m+1), . . . ) is sensed by sensor group 9 and transport tape 52is not moving, either because B(m) is the very first banknote of theseries or because t_(p)(m)t≥(t_(j)(m−1)+Δt_(stop)), where t_(j)(m−1) isthe joint time instant of the last sensed banknote B(m−1) of the seriesand Δt_(stop) is a known time interval required to take a banknote to aresting or stop position on transport tape 52 with its rear end at astop distance ds from opening 20, i.e. in case the storage of a lastsensed banknote B(m−1) in the storing and issuing module 10 has alreadybeen completed (for example as represented in FIG. 3 a ),

then the pattern of linear speed v_(t(m))(t) of transport tape 52 iscalculated, so that, between t_(p)(m) and t_(j)(m), it satisfies rule:

∫_(t) _(p) _((m)) ^(t) ^(j) ^((m)) v _(t(m))(t)dt=Proj(m)+d _(d) −d_(s)  (1)

and as a default setting, after t_(j)(m), it satisfies rule:

∫_(t) _(j) _((m)) ^(t) ^(j) ^((m)+Δt) ^(stop) v _(t(m))(t)dt=d _(s)  (2)

According to a preferred embodiment of the invention ds is comprisedbetween 70% and 100% of the height H of the smallest banknote to storein storing and issuing module (for example it is 62 mm for a 5 eurosbanknote).

Still according to a preferred embodiment of the invention Δt_(stop) isgreater than t_(rate) and, according to a further preferred embodimentof the invention, Δt_(stop)=1.5*t_(rate).

According to the invention method 1, what happens to the pattern oflinear speed of transport tape 52, in case in a new entering banknotesB(m), . . . is sensed on conveyor belt 23, depends on its respectiveprediction time instants with respect to the pattern of transport tape52 linear speed for the last sensed banknote.

According to a preferred embodiment of the invention, if a new enteringbanknote B(m) is sensed at t_(p)(m)≤t_(j)(m−1), i.e. if t_(j)(m) iscalculated by processor 80 for banknote B(m) before the last sensedbanknote B(m−1) is engaged with transport tape 52, then the pattern oflinear speed v_(t(m))(t) of transport tape 52 is calculated that,between t_(j)(m−1) and t_(j)(m), satisfies rule:

∫_(t) _(j) _((m-1)) ^(t) ^(j) ^((m)) v _(t(m))(t)dt=Proj(m)+d _(d)  (3)

where: t_(j)(m−1) is the joint time instant of the previous banknoteB(m−1) of the series, that has last entered the storing and issuingmodule 10. As a default setting, after t_(j)(m), the pattern of linearspeed v_(t(m))(t) is set by processor 80 to satisfy rule:

∫_(t) _(j) _((m)) ^(t) ^(j) ^((m)+Δt) ^(stop) v _(t(m))(t)dt=d _(s)  (2)

as also disclosed above.

Alternatively, in case a new entering banknote B(m) is sensed att_(j)(m−1)<t_(p)(m)≤(t_(j)(m−1)+Δt_(stop))−t_(rate), i.e. when or afterlast sensed banknote B(m−1) has been engaged with transport tape 52, inadvance of t_(rate) with respect to time instant of complete stop atstop distance ds of last engaged banknote B(m−1), then linear speedv_(t(m))(t) of transport tape 52 is calculated that, between t_(j)(m−1)and t_(j)(m), satisfies rule

∫_(t) _(j) _((m-1)) ^(t) ^(p) ^((m)) v _(t(m-1))(t)dt+∫ _(t) _(p) _((m))^(t) ^(j) ^((m)) v _(t(m))(t)dt=Proj(m)+d _(d)  (4)

As above, as a default setting, after t_(j)(m), the pattern of linearspeed of transport tape 52, for storage of banknote B(m) satisfies rule:

∫_(t) _(j) _((m)) ^(t) ^(j) ^((m)+Δt) ^(stop) v _(t(m))(t)dt=d _(s)  (2)

In case a new entering banknote B(m) is sensed at(t_(j)(m−1)+Δt_(stop))−t_(rate)<t_(p)(m)<(t_(j)(m−1)+Δt_(stop)) i.e. ift_(j)(m) is calculated when last engaged banknote B(m−1) is closer thant_(rate) to time instant of complete stop at stop distance d_(s), thenthe linear speed v_(t(m))(t) of transport tape 52 is updated that, afterstop of last engaged banknote B(m−1), satisfies rule:

∫_(t) _(j) _((m-1)+Δt) _(stop) ^(t) ^(j) ^((m)) v _(t(m))(t)dt=Proj(m)d_(d) −d _(s)  (5)

As above, as a default setting, after t_(j)(m), the pattern of linearspeed of transport tape 52, for storage of banknote B(m) satisfies rule:

∫_(t) _(j) _((m)) ^(t) ^(j) ^((m)+Δt) ^(stop) v _(t(m))(t)dt=d _(s)  (2)

FIGS. 8 to 11 represent possible speed patterns for transport tape 52,calculated according to an exemplary implementation of invention method1.

FIG. 8 , for example, represents the case where four banknotes B(1),B(2), B(3) and B(4) are stored in a storing and issuing module 10, inthe case where another banknote B(0) had been previously stored (engagedwith transport tape 52 at distance d_(s) from opening 20). The fourwindows of FIG. 8 represent, from top to bottom, how the linear speedpattern of transport tape 52 is set by processor 80 over time, as theprocessor 80 of the invention system 100 receives sensing information bythe central processing unit 19 (predict data in the figure) andcalculates joint time instants t_(j)(1), t_(j)(2), t_(j)(3) and t_(j)(4)of banknotes to be stored. The method of the invention, as can be seenon the first window of FIG. 8 , determines the linear speed patternv_(t(1))(t) of transport tape 52 required to store banknote B(1) asabove described, such that before t_(j)(1) transport tape 52 has movedof the required distance in order to allow rear end of the previouslystored banknote B(0) to be at distance d_(d) from front end of banknoteB(1), according to equation (1) above. The integral of v_(t(1))(t)between t_(p)(m) and t_(j)(1), i.e. the represented area under signalv_(t(1))(t) between time instants t_(p)(m) and t_(j)(1), corresponds toProj(1)+d_(d)−d_(s). As is shown in this window, an activation timeinstant t_(a)(1) is determined by processor 80, at which motor 60 willbe activated to cause the required movement of transport tape 52 beforet_(j)(1). The activation time instant can be determined according to apreferred embodiment of the invention method, as will be describedbelow.

After t_(j)(1), if no other banknotes are sensed, v_(t(1))(t) is set byprocessor 80, according to equation (2), such that banknote B(1) istaken to the rest position and, in fact, the integral of v_(t(1))(t),between t_(j)(1) and t_(j)(1)+Δt_(stop) is equal to d_(s).

In the second window, the case is depicted where just before activationof motor 60, i.e. before t_(a)(1), another banknote is sensed andprocessor 80 has determined a corresponding joint time instant t_(j)(2).Since t_(j)(2) has been determined at t_(p)(2)≤t_(j)(1), then a newpattern of linear speed of transport tape 52 can be set by processor 80such that:

-   -   between t_(a)(1)<t_(j)(1), the integral of v_(t(1))(t), i.e. the        represented area under the linear speed curve of transport tape        52 between time instants t_(a)(t) and t_(j)(1), corresponds to        Proj(1)+d_(d)−d_(s); and    -   between time t_(j)(1) and t_(j)(2) transport tape 52 moves at        v_(t(2))(t) of a length equal to Proj(2)+d_(d), so that the rear        end of B(1), at t_(j)(2) has moved together with transport tape        52 of the length required to leave distance d_(d) between        banknotes B(1) and B(2). Then the pattern of linear speed of        v_(t(2))(t) is set by processor 80 such that after Δt_(stop) the        second banknote B(2) is brought at resting position, since no        other incoming banknote has been sensed in the meantime.

The third window shows what happens in the system 100 when the thirdbanknote B(3) of the series is sensed and corresponding joint timeinstant t_(j)(3) is calculated at t_(p)(3)≤t_(j)(2). As above, processor80 changes linear speed of transport tape 52 after t_(j)(2) according toequation (3), so that between t_(j)(2) and t_(j)(3) the second banknoteB(2) is moved at linear speed v_(t(3))(t) together with transport tapeof Proj(3)+d_(d), and after t_(j)(3) the pattern of linear speed ofv_(t(3))(t) is set by processor 80 such that after Δt_(stop) the thirdbanknote B(3) is brought at resting position, since no other incomingbanknote has been sensed in the meantime. When a fourth banknote B(4) issensed, and corresponding joint time instant t_(j)(4) is calculated att_(p)(4)≤t_(j)(3), then processor 80 calculates linear speed oftransport tape 52 after t_(j)(3), so that between t_(j)(3) and t_(j)(4)the third banknote B(3) is moved at linear speed v_(t(4))(t) togetherwith transport tape of Proj(4)+d_(d), and then, after t_(j)(4) thepattern of linear speed of v_(t(4))(t) is set by processor 80 such thatafter Δt_(stop) the fourth banknote B(4) is brought at resting position,since no other incoming banknote has been sensed in the meantime. Howthe pattern of linear speed is set by processor 80 during execution ofthe invention method will be disclosed below.

A similar case in represented in FIG. 9 . In this case, however, onlythe first and third banknote transported by conveyor belt 23 are to bestored in storing and issuing module 10, the second one, for example,being a banknote of a different denomination and, for this reason,directed to another storing and issuing module of the receiving anddispensing device. In this case t_(j)(2) has been determined att_(p)(2)=t_(j)(1). The pattern of transport tape linear speed forstoring banknote B(2) is set by processor 80 according to equation (3)above, such that between time t_(j)(1) and t_(j)(2) transport tape 52moves at linear speed v_(t(2))(t) of Proj(2)+d_(d) and the rear end ofB(1), at t_(j)(2) has moved together with transport tape 52 of thelength required to leave distance d_(d) between banknotes B(1) and B(2).Then the linear speed of v_(t(2))(t) is set by processor 80 such thatafter Δt_(stop) the second banknote B(2) is brought at resting position,since no other incoming banknote to be stored in that storing andissuing module 10 has been sensed in the meantime.

In FIG. 10 , the case is represented wherein a second banknote B(2) issensed and identified by system 100 att_(j)(1)<t_(p)(2)≤(t_(j)(1)+Δt_(stop))−t_(rate), i.e. after theengagement of the first banknote B(1) when transport tape 52 has alreadystarted moving banknote B(1) in the rest position because beforeengaging that banknote at t_(j)(1)—upper window—no other banknotes hadbeen sensed and identified. In this case, processor 80 sets linear speedof transport tape for storage of banknote B(2) according to equation(4), such that:

-   -   after t_(j)(1) and before prediction time instant t_(p)(2) (for        a time interval Δt_(stop)′), the first banknote B(1) moves        together with transport tape 52 at speed v_(t(1))(t); and    -   between prediction time instant t_(p)(2) and joint time instant        t_(j)(2) (for a time interval Δt_(stop)″) the first banknote        B(1) moves together with transport tape 52 at v_(t(2))(t).

The total length covered between t_(j)(1) and t_(j)(2) is the onerequired to leave the second banknote B(2) space enough to enter thestoring and issuing unit 10 and being engaged with transport tape 52with its front end at distance d_(d) from rear end of banknote B(1),according to equation (4) above.

FIG. 11 , depicts the case where a second banknote B(2) is sensed toolate, at (t_(j)(1)+Δt_(stop))−t_(rate)<t_(p)(2)<(t_(j)(1)+Δt_(stop)),when the first banknote B(1) has already engaged with transport tape 52and is almost at rest position (at stop distance d_(s) from opening 20).In this case, transport tape 52 is let stop and its linear speed forstoring the second banknote B(2) is set by processor 80 according toequation (5) so that, after stop at t_(j)(1)+)+Δt_(stop), at activationtime t_(a)(2), it will move at v_(t(2))(t) in order to cover just thelength required to leave distance d_(d) between the rear end of thefirst B(1) banknote and the front end of the second banknote B(2). Aftert_(j)(2), the linear speed of transport tape 52 is set according toequation (2).

The skilled person will note that there are many ways for processor 80to set the pattern of linear speed v_(t(m))(t) of transport tape 52 forany banknote B(m) to be stored, as long as the integral thereof, betweentwo time-instants of interest, corresponds to the required lineardisplacement of transport tape 52, necessary to leave desired distanced_(d) between the rear end of the last engaged banknote and the frontend of an engaging banknote.

However, according to a preferred advantageous embodiment of theinvention method 1, the pattern of linear speed v_(t)(t) of transporttape 52 can be defined as a line segment or a chain of line segments, asrepresented in FIG. 12 . In FIG. 12 , the case is represented wheretransport tape 52 is moving and prediction time instant t_(p)(m) of them^(th) sensed banknote B(m) is such that t_(p)(m)≤t_(j)(m−1). FIG. 12shows that the speed pattern of transport tape 52 is always associatedto:

-   -   a constant linear acceleration value a_(t), inversely        proportional to the total inertia as described above, which        varies with the diameter of the assembly formed by storage        roller 50, transport tape 52, and the banknotes engaged        therewith, the diameter being calculated by processor 80, and    -   a constant speed target value v_(t), that can be easily        calculated according to the formulas shown in FIG. 12 , once two        following joint time instants t_(j)(m−1) and t_(j)(m) have been        determined by processor 80 (distance B=t_(j)(m−1)−t_(j)(m) in        FIG. 12 ), the distance (area (C+A) in FIG. 12 ) that the rear        end of the last engaged banknote B(m−1) needs to cover with        transport tape 52 in order to allow the entering banknote B(m),        when also engaged by transport tape 52, to have its front end at        d_(d) from rear end of B(m−1), is also known, and the pattern of        linear speed v_(t(m-1))(t) of transport tape 52 for the last        sensed banknote B(m−1), is estimated by processor 80 (V in FIG.        12 is v_(t(m-1))(t_(j)(m−1))).

The skilled person will have no difficulties in understanding how theblank area under the trapezius, identified by letter C in FIG. 12 ,corresponds to the linear displacement that transport tape 52 wouldcover, after engagement of last engaged banknote B(m−1) and beforeengagement of the entering one B(m), if it continued moving at previousspeed v_(t(m-1))(t). A is the additional linear movement that transporttape 52 needs to cover, after engagement of previously engaged banknoteB(m−1), in order to assure proper distance d_(d) between the previouslyengaged B(m−1) and the entering banknote B(m).

The skilled person would also easily understand that modeling linearspeed of transport tape 52 as line segment or a chain of line segments,as a function of a constant acceleration value a_(t) and a constantlinear speed value v_(t), is advantageous not only because it allowsidentifying the pattern of that linear speed very easily, but alsobecause it allows handling banknotes of different dimensions, forexample in case a storing and issuing module 10 was used as recyclingmodule for damaged banknotes of all denominations, having them verydifferent dimensions. In this case, A could also depend on thedenomination of the entering banknote B(m) to be stored.

FIG. 12 , however, shows just an example, and does not cover all casesof system operation described above, which, however, can be easilydetermined by the skilled person given the above disclosure. Forexample, if the entering banknote B(m) was smaller than the onepreviously engaged B(m−1), the area C in FIG. 12 , should be reduced byarea A—see the corresponding graph—and the acceleration value a_(t)would be negative (see FIG. 13 ), i.e. the transport tape shoulddecelerate.

As a further example, in the case wherein transport tape 52 is notmoving when a banknote B(m) is sensed, for example because the sensedbanknote is the very first banknote of the series, processor can setv_(t(m))(t) as a line segment starting from activation time instantt_(a)(m) with acceleration a_(t). Activation time instant t_(a)(m) canbe easily determined given that the area under signal v_(t(1))(t)between time instants t_(a)(t) and t_(j)(1) must correspond toProj(1)+d_(d)−d_(s).

As a final example, according to a preferred embodiment of theinvention, the speed pattern of transport tape 52 during time intervalΔt_(stop), can be associated, to:

-   -   a constant linear acceleration value a_(t), inversely        proportional to the total inertia as described above, which        varies with the diameter of the assembly formed by storage        roller 50, transport tape 52, and the banknotes engaged        therewith, the diameter being calculated by processor 80,    -   a constant speed target value v_(t), and also    -   a constant deceleration value dec_(t), which is advantageously        at least double the constant linear acceleration value a_(t).

In this case, as can be seen, for example in FIGS. 8-11 , the speedpattern of transport tape 52 comprises at least a final line segment atconstant deceleration value dec_(t) that, between t_(end)(m) andt_(j)(m)+Δt_(stop) brings v_(t(m))(t) to zero.

The method and system according to the invention reach the goalsdisclosed in the preamble above.

First of all, with the invention method a larger number of banknotes canbe stored in a single storing and issuing module, having a transporttape 52 longer than one usually used in prior art storing and issuingmodules, with no increase in power consumption, due to the fact that theacceleration value a_(t) of the assembly formed by storage roller 50,transport tape 52 and the engaged banknotes, decreases as the assemblydiameter increases. The acceleration value a_(t) is in particularinversely proportional to the total inertia of the moving elements ofthe storing and issuing device, seen by motor 60 of storage roller 50.Its reduced value, for large diameters of the assembly, is compensatedby a controlled advance operation of the storing and issuing module 10,according to the method 1 above described. The invention method allowscalculating a pattern for linear speed of transport tape 52 having loweraccelerations values and lower speed values than prior art modules, thatminimizes and keeps substantially constant the inertial torque seen bymotor 60.

The preferred embodiments of this invention have been described and anumber of variations have been suggested hereinbefore, but it should beunderstood that those skilled in the art can make other variations andchanges without so departing from the scope of protection thereof, asdefined by the attached claims.

For example, system 100 and method 1 of the invention can be implementedin devices other than receiving and dispensing ones. For example, theycan be implemented only in receiving devices. Also, system 100 of theinvention can comprise two or more storing and issuing modules, asrepresented, for example, in FIG. 2 . In this case, throughidentification information ID, the central processing unit 19 can assigna sensed banknote to a specific storing and issuing module of the systemand in this case, appropriate way of transporting the banknotes onconveyor belt 23 and diverting them to the corresponding storing andissuing module, will be comprised in the system and method.

Again, the system of the invention was not described as comprisingsensors 66 as disclosed in the prior art, at conveying section 51 ofeach storing and issuing module 10. Those sensors 66, however, couldindeed be provided in each or just some of the storing and issuingmodules of the invention system 100. However, if they were included inthe system, they would not be used as in the prior art, to activatemotor 60. Instead, they could be used by processor 80 for activation ofholding means 53-54, once an entering banknote B(m) is sensed by them(as depicted in FIGS. 8 to 11 ).

As a variation of the invention system 100, if sensor 66 were includedin each or some storing and issuing module 10, then the resting positionof a banknote could be such that d_(s) corresponds to a length betweenopening 20 and somewhere between sensor 66 and the pinch-rollers 53-54.In FIG. 3 d_(s) corresponds exactly to the distance of holding means53-54 from opening 20.

As a final remark, it is to be noted that in the present descriptionreference is made to a system 100 where the central processing unit 19sends the sensing information to processor 80 of a storing and issuingmodule 10, after having checked the sensing information and establishedthat the sensed banknote is not to be rejected. However, it the system100 according to the invention had only one storing and issuing module10 and did not implement any check of the sensing information, thesensing information provided by sensor group 9 could be sent directly toprocessor 80 for calculation of the pattern of the linear speed oftransport tape 52 as disclosed above.

1. Method (1) for storing a series of flexible documents ( . . . , B(m−1), B(m), B(m+1), . . . ) in a system, the system comprising at least one storing and issuing module, one conveyor belt, configured for supporting and transporting in said system said flexible documents ( . . . , B(m−1), B(m), B(m+1), . . . ) toward said at least one storing and issuing module at known conveying speed v_(c)(t), one sensor group, arranged with respect to said conveyor belt in such a way that it can sense any flexible document B(m) transported on said conveyor belt and provide corresponding sensing information, and a central processing unit, operatively connected to said sensor group and said at least one storing and issuing module and configured to receive and process said sensing information, and send corresponding control signals to said at least one storing and issuing module; wherein in said at least one the storing and issuing module one opening is formed, through which each flexible document B(m) can enter the same with its front end, and be transported through a linear conveying section of the storing and issuing module, the storing and issuing module having at least: a storage roller actuated by a motor; one transport tape configured to be dragged in rotation by the storage roller around the same; holding means, arranged at said conveying section, and configured for engaging each flexible document B(m) with the transport tape, when the rear end of the flexible document B(m) has entered the storing and issuing module through opening, the engagement occurring along a linear path of transport tape where transport tape can be moved at linear speed before being rolled on storage roller; one processor, operatively connected, through said central processing unit, to at least said sensor group, and also operatively connected to said storage roller, motor, and holding means; said method comprising, for an m^(th) flexible document B(m) of the series ( . . . , B(m−1), B(m), B(m+1), . . . ), the steps of: 1.1 sensing, through said sensor group, sensing information regarding said flexible document B(m), 1.2 providing within a known prediction time instant t_(p)(m) from sensing, through said central processing unit, said sensing information to processor; and 1.3 determining, through said processor: based on said received sensing information and said known conveying speed v_(c)(t) of conveyor belt, a subsequent joint time instant t_(j)(m), wherein the rear end of said flexible document B(m) will have entered the storing and issuing module and said flexible document B(m) will be engaged by said holding means with said transport tape, based on a diameter of an assembly formed by said storage roller and said transport tape rolled together with any previously engaged flexible document ( . . . , B(m−2), B(m−1)) around said storage roller, an acceleration value (a_(t)), and based on said acceleration value (a_(t)), a deceleration value (dec_(t)); 1.4 calculating a pattern of linear speed v_(t(m))(t) at which said transport tape must be moved by said storage roller, after prediction time instant t_(p)(m) such that, at estimated joint time instant t_(j)(m), when said holding means engage said flexible document B(m) with transport tape in said at least one storing and issuing module, a predetermined desired distance d_(d) on said transport tape is left between said front end of said flexible document B(m) and a rear end of a flexible document B(m−1) of the series, last engaged by said transport tape, if any, based on: the sensing information; said determined joint time instant t_(j)(m), acceleration (a_(t)) and deceleration (dec_(t)) values; and a linear speed profile v_(t(m-1))(t) determined by processor said for the previous flexible document B(m−1) of the series, if any; and 1.5 sending, by said processor, control signals causing actuation of said holding means at t_(j)(m) and, based on said pattern of linear speed v_(t(m))(t) of said transport tape, one or more respective control signal to said motor, causing control of said storage roller rotation, and a corresponding movement of said transport tape according to the calculated speed pattern v_(t(m))(t).
 2. Method (1) according to claim 1, wherein said acceleration value (a_(t)) is inversely proportional to a total Inertia (I_(tot60)) required to rotate, through said motor, said assembly formed by said storage roller and said transport tape rolled together with any previously engaged flexible document ( . . . , B(m−2), B(m−1)) around said storage roller.
 3. Method (1) according to claim 2, wherein said total Inertia (I_(tot60)) is a function of said diameter value of said assembly formed by said storage roller and said transport tape rolled together with any previously engaged flexible document ( . . . , B(m−2), B(m−1)) around said storage roller, optionally wherein said acceleration value (a_(t)) can be calculated in real-time or it can be calculated off-line and stored in said processor, optionally in a lookup table, as a function of said diameter value.
 4. Method (1) according to claim 3, wherein said sensing information comprises at least the dimensions of a sensed m^(th) flexible document B(m) of the series of flexible documents and its angular position (α) with reference to an axis parallel to a longitudinal symmetry axis of conveyor belt, and optionally the distance (Y) of each flexible document from a lateral edge of conveyor belt, and/or a denomination (ID) of said sensed m^(th) flexible document B(m), more optionally a length of the projection (Proj(m)) of the sensed m^(th) flexible document B(m) along an axis parallel to the longitudinal symmetry axis of conveyor belt.
 5. Method (1) according to claim 1, wherein if the m^(th) flexible document B(m) is the very first one of the series of flexible documents or if it is not the first one and prediction time instant t_(p)(m)t≥(t_(j)(m−1)+Δt_(stop)), where: t_(j)(m−1) is the joint time instant of the last engaged flexible document B(m−1) of the series, and Δt_(stop) is a known time interval required to take a flexible document to a resting or stop position on transport tape with its rear end at a stop distance d_(s) from opening, then said pattern of linear speed v_(t(m))(t) of transport tape is calculated, so that, between t_(p)(m) and t_(j)(m), it satisfies rule: ∫_(t) _(p) _((m)) ^(t) ^(j) ^((m)) v _(t(m))(t)dt=Proj(m)+d _(d) −d _(s)  (1) where Proj(m) is the length of the projection of the sensed flexible document B(m) along an axis parallel to the longitudinal symmetry axis of conveyor belt, and after t_(j)(m), it satisfies rule: ∫_(t) _(j) _((m)) ^(t) ^(j) ^((m)+Δt) ^(stop) v _(t(m))(t)dt=d _(s)  (2)
 6. Method (1) according to claim 1, wherein if prediction time instant for said flexible document B(m) is such that t_(p)(m)≤t_(j)(m−1), where t_(j)(m−1) is the joint time instant of the last sensed flexible document B(m−1) of the series, then said pattern of linear speed v_(t(m))(t) of transport tape is calculated that, between t_(j)(m−1) and t_(j)(m), it satisfies rule: ∫_(t) _(j) _((m-1)) ^(t) ^(j) ^((m)) v _(t(m))(t)dt=Proj(m)+d _(d)  (3) where Proj(m) is the length of the projection of the sensed flexible document B(m) along an axis parallel to the longitudinal symmetry axis of conveyor belt, and after t_(j)(m), the pattern of linear speed v_(t(m))(t) is set by processor to satisfy rule: ∫_(t) _(j) _((m)) ^(t) ^(j) ^((m)+Δt) ^(stop) v _(t(m))(t)dt=d _(s)  (2) where Δt_(stop) is a known time interval required to take a flexible document B(m) to a resting or stop position on transport tape with its rear end at a stop distance d_(s) from opening.
 7. Method (1) according to claim 1, wherein if prediction time instant for said flexible document B(m) is such that t_(j)(m−1)<t_(p)(m)≤(t_(j)(m−1)+Δt_(stop))−t_(rate), where: t_(j)(m−1) is the joint time instant of the last engaged flexible document B(m−1) of the series, Δt_(stop) is a known time interval required to take said flexible document B(m) to a resting or stop position on transport tape with its rear end at a stop distance d_(s) from opening and t_(rate) is a constant nominal time interval of said flexile document B(m), then linear speed v_(t(m))(t) of transport tape is calculated that, between t_(j)(m−1) and t_(j)(m), satisfies rule ∫_(t) _(j) _((m-1)) ^(t) ^(p) ^((m)) v _(t(m-1))(t)dt+∫ _(t) _(p) _((m)) ^(t) ^(j) ^((m)) v _(t(m))(t)dt=Proj(m)+d _(d)  (4) where Proj(m) is the length of the projection of the sensed flexible document B(m) along an axis parallel to the longitudinal symmetry axis of conveyor belt, and after t_(j)(m), it satisfies rule: ∫_(t) _(j) _((m)) ^(t) ^(j) ^((m)+Δt) ^(stop) v _(t(m))(t)dt=d _(s)  (2)
 8. Method (1) according to claim 1, wherein if prediction time instant for said flexible document B(m) is such that (t_(j)(m−1)+Δt_(stop))−t_(rate)<t_(p)(m)<(t_(j)(m−1)+Δt_(stop)) Where: t_(j)(m−1) is the joint time instant of the last engaged flexible document B(m−1) of the series, Δt_(stop) is a known time interval required to take a flexible document to a resting or stop position on transport tape with its rear end at a stop distance d_(s) from opening and t_(rate) is a constant nominal time interval of said flexile document B(m), then the linear speed v_(t(m))(t) of transport tape is calculated that, after stop of last engaged banknote B(m−1), it satisfies rule: ∫_(t) _(j) _((m-1)+Δt) _(stop) ^(t) ^(j) ^((m)) v _(t(m))(t)dt=Proj(m)d _(d) −d _(s)  (5) where Proj(m) is the length of the projection of the sensed flexible document B(m) along an axis parallel to the longitudinal symmetry axis of conveyor belt (23), and after t_(j)(m), it satisfies rule: ∫_(t) _(j) _((m)) ^(t) ^(j) ^((m)+Δt) ^(stop) v _(t(m))(t)dt=d _(s)  (2)
 9. Method (1) according to claim 5, wherein said stop distance d_(s) is comprised between 70% and 100% of the height H of the smallest flexible document to be stored in said at least one storing and issuing module.
 10. Method (1) according to claim 1, wherein said linear speed v_(t(m))(t) of transport tape has a pattern over time defining a line segment or chain of line segments.
 11. Method (1) according to claim 10, wherein said line segment or chain of line segments is associated to: said acceleration value (a_(t)); a constant speed target value (v_(t)); and said deceleration value (dec_(t)).
 12. Method (1) according to claim 11, wherein said constant speed target value (v_(t)) is a function of: two following joint time instants (t_(j)(m−1) and t_(j)(m)) determined by processor, the distance, calculated by processor that the rear end of a previous sensed flexible document B(m−1) needs to cover with transport tape in order to allow the entering flexible document B(m), when also engaged by transport tape, to have its front end at distance d_(d) from rear end of last engaged flexible document B(m−1), the acceleration value (a_(t)), the value of linear speed v_(t(m-1))(t_(j)(m)) of the last sensed flexible document B(m−1) that transport tape would have at joint time instant t_(j)(m), if the flexible document B(m) had not been sensed by sensor group.
 13. System (100) for storing a series of flexible documents ( . . . , B(m−1), B(m), B(m+1), . . . ), wherein each flexible document of the series of flexible documents ( . . . , B(m−1), B(m), B(m+1), . . . ) has a front and rear end, said system comprising at least one storing and issuing module, one conveyor belt, configured for supporting and transporting in said system said flexible documents ( . . . , B(m−1), B(m), B(m+1), . . . ) toward said at least one storing and issuing module at known conveying speed v_(c)(t), one sensor group, arranged with respect to said conveyor belt in such a way that it can sense any flexible document B(m) transported on said conveyor belt and provide corresponding sensing information, and a central processing unit, operatively connected to said sensor group and said at least one storing and issuing module and configured to receive and process said sensing information coming, and send corresponding control signals to said at least one storing and issuing module; wherein in said at least one the storing and issuing module one opening is formed, through which each flexible document B(m) can enter the same with its front end, and be transported through a linear conveying section of the storing and issuing module, the storing and issuing module having at least: a storage roller configured to be actuated by a motor; one transport tape configured to be dragged in rotation by the storage roller around the same; holding means, arranged at said conveying section, and configured for engaging each flexible document B(m) with the transport tape, when the rear end of the flexible document B(m) has entered the storing and issuing module through opening, the engagement occurring along a linear path of transport tape where transport tape can be moved at linear speed before being rolled on storage roller; one processor, operatively connected through said central processing unit, to at least said sensor group, and also operatively connected to said storage roller, motor, and holding means; said system is configured to execute the method (1) according to any previous claims.
 14. System (100) according to claim 13, comprising more than one storing and issuing module and the central processing unit operatively connected to each processor of each storing and issuing module, the central processing unit being further configured to carry out a check of the sensing information and, based on the sensing information, select one of the storing and issuing module and send the sensing information thereto. 